U.S. patent application number 16/448932 was filed with the patent office on 2020-12-24 for system and method to automatically set the height of the torso section of a seat belt.
The applicant listed for this patent is GM GLOBAL TECHNOLOGY OPERATIONS LLC. Invention is credited to Michael Baltaxe, Gila Kamhi, Ruben Mergui.
Application Number | 20200398778 16/448932 |
Document ID | / |
Family ID | 1000004145512 |
Filed Date | 2020-12-24 |
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United States Patent
Application |
20200398778 |
Kind Code |
A1 |
Baltaxe; Michael ; et
al. |
December 24, 2020 |
SYSTEM AND METHOD TO AUTOMATICALLY SET THE HEIGHT OF THE TORSO
SECTION OF A SEAT BELT
Abstract
A vehicle, system and a computer-implemented method for setting
a height of a seat belt in a vehicle. The system includes a
computer vision module, a motor and a controller. The computer
vision module determines a seatbelt-neck distance (SND) and a
seatbelt-shoulder distance (SSD) for an occupant of the vehicle.
The motor adjusts the height of the seat belt. The controller
control the motor to set the height of the seat belt based on the
SND and the SSD.
Inventors: |
Baltaxe; Michael; (Ra'anana,
IL) ; Mergui; Ruben; (Ramat Gan, IL) ; Kamhi;
Gila; (Zichron Yaakov, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
GM GLOBAL TECHNOLOGY OPERATIONS LLC |
Detroit |
MI |
US |
|
|
Family ID: |
1000004145512 |
Appl. No.: |
16/448932 |
Filed: |
June 21, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60R 2021/01265
20130101; B60R 2022/208 20130101; B60R 21/01552 20141001; B60R
22/20 20130101 |
International
Class: |
B60R 21/015 20060101
B60R021/015; B60R 22/20 20060101 B60R022/20 |
Claims
1. A computer-implemented method for setting a height of a seat
belt in a vehicle, comprising: determining, using a computer vision
module, a seatbelt-neck distance (SND) and a seatbelt-shoulder
distance (SSD) for an occupant of the vehicle; setting the height
of the seat belt based on the SND and the SSD via a controller.
2. The method of claim 1, further comprising determining a
centerline of the seat belt and determining the SND and the SSD
using the centerline.
3. The method of claim 2, further comprising determining the SND by
minimizing a distance between points of the centerline and a neck
location and determining the SSD by minimizing a distance between
all points of the centerline and a shoulder location.
4. The method of claim 1, further comprising determining a neck
location and a shoulder location using a neural network.
5. The method of claim 1, further comprising controlling, via the
controller, a motor to adjust the height of the seat belt.
6. The method of claim 5, wherein the motor rotates a threaded
pillar to move a threaded carrier along the length of the threaded
pillar to set the height of the seat belt.
7. The method of claim 1, further comprising setting the height of
the seat belt so that the SND is approximately equal to the
SSD.
8. A system for setting a height of a seat belt in a vehicle,
comprising: a computer vision module configured to determine a
seatbelt-neck distance (SND) and a seatbelt-shoulder distance (SSD)
for an occupant of the vehicle; a motor configured to adjust the
height of the seat belt; and a controller configured to control the
motor to set the height of the seat belt based on the SND and the
SSD.
9. The system of claim 8, wherein the computer vision module is
further configured to determine a centerline of the seat belt and
to determine the SND and the SSD using the centerline.
10. The system of claim 9, wherein the computer vision module is
further configured to determine the SND by minimizing a distance
between points of the centerline and a neck location and to
determine the SSD by minimizing a distance between all points of
the centerline and a shoulder location.
11. The system of claim 8, wherein the computer vision module
further comprises a neural network configured to determine a neck
location and a shoulder location.
12. The system of claim 8, wherein the motor rotates a threaded
pillar to move a threaded carrier along the length of the threaded
pillar screw to set the height of the seat belt.
13. The system of claim 8, wherein the controller sets the height
of the seat belt so that the SND is approximately equal to the
SSD.
14. The system of claim 8 further comprising an interface allowing
the occupant to adjust the height of the seat belt.
15. A vehicle, comprising: a computer vision module configured to
determine a seatbelt-neck distance (SND) and a seatbelt-shoulder
distance (SSD) for an occupant of the vehicle; a motor configured
to adjust a height of the seat belt; and a controller configured to
control the motor to set the height of the seat belt based on the
SND and the SSD.
16. The vehicle of claim 15, wherein the computer vision module is
further configured to determine a centerline of the seat belt and
to determine the SND and the SSD using the centerline.
17. The vehicle of claim 16, wherein the computer vision module is
further configured to determine the SND by minimizing a distance
between points of the centerline and a neck location and to
determine the SSD by minimizing a distance between all points of
the centerline and a shoulder location.
18. The vehicle of claim 15, wherein the computer vision module
further comprises a neural network configured to determine a neck
location and a shoulder location.
19. The vehicle of claim 15, wherein the motor rotates a threaded
pillar to move a threaded carrier along the length of the threaded
pillar to set the height of the seat belt.
20. The vehicle of claim 15, wherein the controller sets the height
of the seat belt so that the SND is approximately equal to the SSD.
Description
INTRODUCTION
[0001] The subject disclosure relates to seat belt systems in
vehicles and, in particular, to a system and method of
automatically setting a height of a seat belt to fit an occupant of
the vehicle.
[0002] Setting the height of a seat belt's torso section is crucial
to enhancing an occupant's safety. The seat belt should be located
on the collarbone, mid-distance between the neck and the shoulder
of the occupant in order to improve restraint by the seat belt and
to avoid strangling and tissue damage during a crash event.
However, few people actually set the seat belt's height properly
and many do not even know that it is possible to adjust the seat
belt or that there is a proper height. Accordingly, it is desirable
to provide a system that adjusts a seat belt height automatically
to fit the occupant's dimensions.
SUMMARY
[0003] In one exemplary embodiment, a computer-implemented method
for setting a height of a seat belt in a vehicle is disclosed. A
seatbelt-neck distance (SND) and a seatbelt-shoulder distance (SSD)
for an occupant of the vehicle is determined using a computer
vision module. The height of the seat belt is set based on the SND
and the SSD via a controller.
[0004] In addition to one or more of the features described herein,
the method further includes determining a centerline of the seat
belt and determining the SND and the SSD using the centerline. The
method further includes determining the SND by minimizing a
distance between points of the centerline and a neck location and
determining the SSD by minimizing a distance between all points of
the centerline and a shoulder location. The further includes
determining a neck location and a shoulder location using a neural
network. The method further includes controlling, via the
controller, a motor to adjust the height of the seat belt. The
motor rotates a threaded pillar to move a threaded carrier along
the length of the threaded pillar to set the height of the seat
belt. The height of the seat belt is set so that the SND is
approximately equal to the SSD.
[0005] In another exemplary embodiment, a system for setting a
height of a seat belt in a vehicle is disclosed. The system
includes a computer vision module, a motor and a controller. The
computer vision module determines a seatbelt-neck distance (SND)
and a seatbelt-shoulder distance (SSD) for an occupant of the
vehicle. The motor adjusts the height of the seat belt. The
controller control the motor to set the height of the seat belt
based on the SND and the SSD.
[0006] In addition to one or more of the features described herein,
the computer vision module determines a centerline of the seat belt
and determines the SND and the SSD using the centerline. The
computer vision module determines the SND by minimizing a distance
between points of the centerline and a neck location and determines
the SSD by minimizing a distance between all points of the
centerline and a shoulder location. The computer vision module
includes a neural network configured to determine a neck location
and a shoulder location. The motor rotates a threaded pillar to
move a threaded carrier along the length of the threaded pillar to
set the height of the seat belt. The controller sets the height of
the seat belt so that the SND is approximately equal to the SSD. An
interface allows the occupant to adjust the height of the seat
belt.
[0007] In yet another exemplary embodiment, a vehicle is disclosed.
The vehicle includes a computer vision module, a motor and a
controller. The computer vision module determines a seatbelt-neck
distance (SND) and a seatbelt-shoulder distance (SSD) for an
occupant of the vehicle. The motor adjusts a height of the seat
belt. The controller controls the motor to set the height of the
seat belt based on the SND and the SSD.
[0008] In addition to one or more of the features described herein,
the computer vision module determines a centerline of the seat belt
and determines the SND and the SSD using the centerline. The
computer vision module determines the SND by minimizing a distance
between points of the centerline and a neck location and determines
the SSD by minimizing a distance between all points of the
centerline and a shoulder location. The computer vision module
includes a neural network configured to determine a neck location
and a shoulder location. The motor rotates a threaded pillar to
move a threaded carrier along the length of the threaded pillar to
set the height of the seat belt. The controller sets the height of
the seat belt so that the SND is approximately equal to the
SSD.
[0009] The above features and advantages, and other features and
advantages of the disclosure are readily apparent from the
following detailed description when taken in connection with the
accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0010] Other features, advantages and details appear, by way of
example only, in the following detailed description, the detailed
description referring to the drawings in which:
[0011] FIG. 1 shows a schematic diagram illustrating operating of a
seat belt adjustment system;
[0012] FIG. 2 shows a plan view of a vehicle that illustrates
possible camera locations in the vehicle for a camera of the seat
belt adjustment system;
[0013] FIG. 3 shows a schematic diagram illustrating various
components of a computer vision module of the seat belt adjustment
system;
[0014] FIG. 4 illustrates operation of an image pre-processor of
the computer vision module;
[0015] FIG. 5 illustrates operation of a seat belt segmentation
module of the computer vision module;
[0016] FIG. 6 illustrates operation of a centerline extraction
module of the computer vision module;
[0017] FIG. 7 illustrates operation of a pose estimate module of
the computer vision module;
[0018] FIG. 8 shows a flowchart illustrating a decision process
performed by the controller of the seat belt adjustment system in
order to adjust the height of the seat belt;
[0019] FIG. 9 shows details of a seat belt actuator that can be
used to adjust the seat belt height;
[0020] FIG. 10 shows an interface that includes buttons allowing
the occupant to fine tune the height of the seat belt to their
desired setting; and
[0021] FIG. 11 shows a screen that can be shown to indicate
successful adjustment of the seat belt to its proper height.
DETAILED DESCRIPTION
[0022] The following description is merely exemplary in nature and
is not intended to limit the present disclosure, its application or
uses. It should be understood that throughout the drawings,
corresponding reference numerals indicate like or corresponding
parts and features. As used herein, the term module refers to
processing circuitry that may include an application specific
integrated circuit (ASIC), an electronic circuit, a processor
(shared, dedicated, or group) and memory that executes one or more
software or firmware programs, a combinational logic circuit,
and/or other suitable components that provide the described
functionality.
[0023] In accordance with an exemplary embodiment FIG. 1 shows a
schematic diagram illustrating operating of a seat belt adjustment
system 100. The seat belt adjustment system 100 includes a camera
102, a computer vision module 104, a controller 106, and an
actuator 108. The camera 102 obtains an image 120 of the occupant
121 in the vehicle once the occupant has fastened their seat belt
122. The computer vision module 104 locates the seat belt within
the image 120 obtained by the camera 102 as well as a pose of the
occupant and determines a seat belt-shoulder distance (SSD) and a
seat belt-neck distance (SND). The controller 106 determines what
adjustments, if any, are to be made to the height of the seat belt
122. The controller 106 then operates the actuator 108 in order to
set the height of the seat belt to a desired or proper height.
[0024] FIG. 2 shows a plan view of a vehicle 200 that illustrates
possible camera locations in the vehicle for camera 102. In various
embodiments, the vehicle 200 includes a camera 102 within a
steering wheel column of the vehicle or located at a dashboard in
front of the driver's seat as part of a driver monitoring system.
Alternatively, cameras 102A and 102B can be placed at central
locations along a medial line "M" of the vehicle 200. Camera 102A
can be placed in front of the front row of seats, while camera 102B
can be placed in front of the back row of seats. Additional cameras
can be included for vehicles that have additional rows of seats. In
various embodiments, cameras 102A and 102B can be wide
field-of-view cameras. Wide field-of-view cameras can have a
field-of view anywhere between 150 degrees and 170 degrees, in
various embodiments.
[0025] FIG. 3 shows a schematic diagram 300 illustrating various
components of the computer vision module 104 of the seat belt
adjustment system 100. The computer vision module 104 includes an
image pre-processor 302, a seat belt segmentation module 304, a
centerline extraction module 306, a pose estimation module 308 and
a distance extraction module 310. The image pre-processor 302
receives the image 120 from the camera 102 and crops and normalizes
the image to form a pre-processed image 322. The pre-processed
image 322 is provided to the seat belt segmentation module 304 that
locates and produces a segmentation image 324 that identifies
pixels of the seat belt 122 within the pre-processed image 322. The
segmentation image 324 is provided to the centerline extraction
module 306 that determines a centerline (in centerline image 326)
of the seat belt.
[0026] The pre-processed image 322 is also provided from the image
pre-processor 302 to the pose estimate module 308. The pose
estimate module 308 produces a skeletal model image 328 including a
determined skeletal model 702, FIG. 7 of the occupant 121 or
passenger in order to determine the location of various key points
of the occupant. The skeletal model 702, FIG. 7 and the centerline
of the seat belt 122 are both provided to the distance extraction
module 310. The distance extraction module produces output 330 in
the form of the seat belt-shoulder distance (SSD) and the seat
belt-neck distance (SND) from the skeletal model and the
centerline. These components of the computer vision module 104 are
discussed in further detail with respect to FIGS. 4-7.
[0027] FIG. 4 illustrates operation of the image pre-processor 302
of the computer vision module 104. The image pre-processor 302
crops a region of interest (ROI) in the image 120 with respect to
the expected location of an occupant 121 or passenger. In various
embodiments, the ROI is a fixed and/or pre-defined region based on
the seat location. In order to perform standardized calculations,
an image of a passenger that is on a left side of the vehicle is
flipped around its vertical axis. Therefore, all pre-processed
images include an occupant 121 with a torso section of the seat
belt 122 appearing to pass over the occupant's left shoulder.
Pre-processed image 322 shows a cropped region that has been
flipped.
[0028] The intensity I of each pixel of the image is normalized
using the Eq. (1):
I'=((I/255)-0.5).times.2 Eq. (1)
This normalization sets a boundary for the transformed pixel
intensities I' to within -1 and +1, thereby reducing or preventing
pixels with high intensities from overwhelming the pixels having
more standard intensities.
[0029] FIG. 5 illustrates operation of the seat belt segmentation
module 304 of the computer vision module 104. The seat belt
segmentation module 304 can include a neural network, such as a
Fully Convolution Network (FCN) 508. The FCN operates in a training
mode 502 in which various annotated data 504 is used to create or
train an FCN fitting algorithm 506 of the FCN 508. The FCN 508 can
then operate in a real-time execution mode 510 on the pre-processed
image 322 in order to produce a segmentation image 324 and
determine the location of the seat belt 122 in the segmentation
image 324.
[0030] FIG. 6 illustrates the operation of the centerline
extraction module 306 of the computer vision module 104. The
centerline extraction module 306 uses one or more algorithms to
determine the location of a centerline 610 of the seat belt 122. In
one embodiment, the centerline extraction module 306 employs a
morphology algorithm such as thinning to calculate the centerline
610. In another embodiment, the centerline extraction module 306
employs a medial axis extraction method for the same purpose.
[0031] FIG. 7 illustrates operation of the pose estimate module 308
of the computer vision module 104. The occupant's pose can be
estimated by an algorithm such as convolutional pose machines. A
trained network outputs the estimated location of key points of the
occupant 121 as part of a skeletal model 702. The key points
correspond to joints such as knees, hips, shoulders, elbows,
wrists, neck, forehead, eyes and ears. Of particular interest is
the location of the neck and shoulders.
[0032] Once the centerline 610 and the locations of the neck and
shoulders have been determined, the distance extraction module 310
determines the seat belt-shoulder distance (SSD) and the seat
belt-neck distance (SND). The seat belt-shoulder distance (SSD) can
be determined using the following Eq. (2):
SSD = min x .di-elect cons. SB ( x - Sh ) Eq . ( 2 )
##EQU00001##
[0033] where SB is the set of pixels belonging to the seat belt
centerline 610 and Sh is the pixel location of the shoulder joint.
The seat belt-neck distance (SND) can be determined using the
following Eq. (3):
SND = min x .di-elect cons. SB ( x - N ) Eq . ( 3 )
##EQU00002##
where N is the pixel location of the neck joint.
[0034] FIG. 8 shows a flowchart 800 illustrating a decision process
performed by the controller 106 the of seat belt adjustment system
100 in order to adjust the height of the seat belt 122. At box 802,
the decision process starts by receiving the seat belt-shoulder
distance (SSD) and the seat belt-neck distance (SND) as input from
the distance extraction module 310. The seat belt 122 is properly
positioned when the SSD is about equal to the SND. Therefore, in
box 804, the difference between the SSD and the SND is compared to
a criterion c that defines a small non-zero limit. If the
difference is less than the selected criterion, then the seat belt
is positioned approximately correctly. Therefore, the method
proceeds to box 806, where the position of the seat belt is left
alone and then to box 808 where the process stops.
[0035] On the other hand, if, in box 804, the difference between
SSD and SND is greater than the criterion, then either the seat
belt is too high or too low. The method then proceeds to box 810
which compares the SND to the SSD. If the SSD is greater than the
SND, then the seat belt is too high and the method proceeds to box
812. In box 812, the seat belt 122 is moved down. Returning to box
810, if the SSD is less than the SND, then the seat belt is too low
and the method proceeds to box 814. In box 814, the seat belt is
moved up. From either of box 812 or 814, the method returns to box
804 in which the new values of SND and SSD are once again compared
to each other. This can require once again determining the SND and
SSD using the computer vision module, in various embodiments. This
method continues until the SSD and SND are equal to within the
selected criterion .epsilon..
[0036] FIG. 9 shows details of the seat belt actuator 108 that can
be used to adjust the height of the seat belt 122. The actuator 108
includes a motor 902, a support structure 904 including a threaded
pillar 906 that extends along the length of the support structure
904 and is offset from the support structure, a threaded carrier
908 and the seat belt 122. The threaded carrier 908 is threadingly
engaged to the threaded pillar 906. The motor 902 rotates the
threaded pillar 906 in one of a clockwise direction and a counter
clockwise direction based upon a command from the actuator 108. The
actuator 108 commands rotation of the threaded pillar 906 in one
direction when the SSD is greater than the SND and in the opposite
direction when the SSD is less than the SND. The threaded carrier
908 slides within a track of the support structure 904, causing the
threaded carrier 908 to move in one direction when the threaded
pillar is rotated in the clockwise direction and in the opposite
direction when the threaded pillar is rotated in the
counter-clockwise direction. The motor 902 therefore is operated by
the controller 106 based on the instructions from either box 812 or
box 814 of the flowchart 800 of FIG. 8 until seat belt 122 is in
its optimal position.
[0037] After the seat belt adjustment system 100 has completed its
operation, the occupant 121 may still choose to reposition the seat
belt 122. FIG. 10 shows an interface 1000 including buttons 1002
and 1004 allowing the occupant to fine tune the height of the seat
belt to their desired setting.
[0038] The seat belt adjustment system 100 can be activated under
different situations. If the vehicle 200 is an autonomous vehicle
the seat belt adjustment system 100 can be activated as soon as the
occupant enters the vehicle and buckles the seat belt, sometimes
refusing to operate until such buckling has occurred. For a
non-autonomous vehicle, the occupant can select an option at a
dashboard or infotainment system of the vehicle. The system can ask
the occupant to seat themselves properly, the system then adjusts
the seat belt's height. The system can chime or create an audible
signal to inform the occupant that the process has finished.
Additionally, a message 1102 can be presented at the dashboard or
an infotainment screen, such as shown in FIG. 11.
[0039] While the above disclosure has been described with reference
to exemplary embodiments, it will be understood by those skilled in
the art that various changes may be made and equivalents may be
substituted for elements thereof without departing from its scope.
In addition, many modifications may be made to adapt a particular
situation or material to the teachings of the disclosure without
departing from the essential scope thereof. Therefore, it is
intended that the present disclosure not be limited to the
particular embodiments disclosed, but will include all embodiments
falling within the scope thereof.
* * * * *